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Xinpeng Wang

Xinpeng Wang appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

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eess.SY Robotics Systems and Control astro-ph.HE astro-ph.IM Computation and Language Computer Vision

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preprint2026arXiv

NICE FACT: Diagnosing and Calibrating VLMs in Quantitative Reasoning for Kinematic Physics

The ability to derive precise spatial and physical insights is a cornerstone of vision-language models (VLMs), yet their poor performances in related spatial intelligence tasks such as physical reasoning remain a fundamental barrier. The community critically lacks a scientific analysis revealing whether VLMs faithfully reach answers or plausibly make guesses. This work aims to provide a fundamental understanding of how VLMs perceive the physical world, and utilize physical laws, while assessing the reliability of model confidence. We propose NICE and FACT, a dual-diagnostic paradigm that explicitly decomposes quantitative reasoning for kinematic physics: FACT diagnoses visual fidelity, physical law comprehension, and temporal grounding. NICE studies our novel neighborhood-informed calibration method and novel metrics to evaluate and calibrate confidence reliability. Evaluated across 6 latest state-of-the-art VLMs, we uncover that models fail to identify visual preconditions or utilize necessary physical laws to reach answers. This work highlights and establishes a standardized diagnostic paradigm to guide the development of faithful, physically-grounded VLMs.

preprint2022arXiv

Open-domain Dialogue Generation Grounded with Dynamic Multi-form Knowledge Fusion

Open-domain multi-turn conversations normally face the challenges of how to enrich and expand the content of the conversation. Recently, many approaches based on external knowledge are proposed to generate rich semantic and information conversation. Two types of knowledge have been studied for knowledge-aware open-domain dialogue generation: structured triples from knowledge graphs and unstructured texts from documents. To take both advantages of abundant unstructured latent knowledge in the documents and the information expansion capabilities of the structured knowledge graph, this paper presents a new dialogue generation model, Dynamic Multi-form Knowledge Fusion based Open-domain Chatt-ing Machine (DMKCM).In particular, DMKCM applies an indexed text (a virtual Knowledge Base) to locate relevant documents as 1st hop and then expands the content of the dialogue and its 1st hop using a commonsense knowledge graph to get apposite triples as 2nd hop. To merge these two forms of knowledge into the dialogue effectively, we design a dynamic virtual knowledge selector and a controller that help to enrich and expand knowledge space. Moreover, DMKCM adopts a novel dynamic knowledge memory module that effectively uses historical reasoning knowledge to generate better responses. Experimental results indicate the effectiveness of our method in terms of dialogue coherence and informativeness.

preprint2021arXiv

An Interaction-aware Evaluation Method for Highly Automated Vehicles

It is important to build a rigorous verification and validation (V&V) process to evaluate the safety of highly automated vehicles (HAVs) before their wide deployment on public roads. In this paper, we propose an interaction-aware framework for HAV safety evaluation which is suitable for some highly-interactive driving scenarios including highway merging, roundabout entering, etc. Contrary to existing approaches where the primary other vehicle (POV) takes predetermined maneuvers, we model the POV as a game-theoretic agent. To capture a wide variety of interactions between the POV and the vehicle under test (VUT), we characterize the interactive behavior using level-k game theory and social value orientation and train a diverse set of POVs using reinforcement learning. Moreover, we propose an adaptive test case sampling scheme based on the Gaussian process regression technique to generate customized and diverse challenging cases. The highway merging is used as the example scenario. We found the proposed method is able to capture a wide range of POV behaviors and achieve better coverage of the failure modes of the VUT compared with other evaluation approaches.

preprint2020arXiv

A Data-driven, Falsification-based Model of Human Driver Behavior

We propose a novel framework to differentiate between vehicle trajectories originating from human and non-human drivers by constructing a data-driven boundary using parametric signal temporal logic (STL). Such construction allows us to evaluate the trajectories, detect rare-events, and reduce the uncertainty of driver behaviors when it assumes the form of a disturbance in control synthesis and evaluation problems. We train a classifier that separates admissible (i.e. human) examples - which arise from real-world demonstrations - and inadmissible (i.e. non-human) examples that are generated by falsifying specifications synthesized from the same real-world driving data. Proceeding in this fashion allows for finding a reasonable boundary of human behaviors exhibited in real-world driving records. The framework is demonstrated using a case study involving a human-driven vehicle approaching a signalized intersection.

preprint2013arXiv

First results from a next-generation off-plane X-ray diffraction grating

Future NASA X-ray spectroscopy missions will require high throughput, high resolution grating spectrometers. Off-plane reflection gratings are capable of meeting the performance requirements needed to realize the scientific goals of these missions. We have identified a novel grating fabrication method that utilizes common lithographic and microfabrication techniques to produce the high fidelity groove profile necessary to achieve this performance. Application of this process has produced an initial pre-master that exhibits a radial (variable line spacing along the groove dimension), high density (>6000 grooves/mm), laminar profile. This pre-master has been tested for diffraction efficiency at the BESSY II synchrotron light facility and diffracts up to 55% of incident light into usable spectral orders. Furthermore, tests of spectral resolving power show that these gratings are capable of obtaining resolutions well above 1300 ($λ/Δλ$) with limitations due to the test apparatus, not the gratings. Obtaining these results has provided confidence that this fabrication process is capable of producing off-plane reflection gratings for the next generation of X-ray observatories.